Ebooki / SGT-Volume4

Searl knowledge: 1946-1968: Legal: SEARL NO: 013787346: Legal: SEARLE NO: 013787451

Figure OU1.3B: (a) The straight and (b) ‘bent’ wrist configurations.

Searl say that the robot must move the gripper and the S.E.G. segment layer work piece between these positions. Searl say that the path taken must avoid collision with other machines and interference with nearby processes. Searl explains that this ‘path’ may include the paths of all points in the gripper and the work piece, and thus be more accurately described as a swept volume through which the gripper and S.E.G segment layer work pieces move.

Searl reminds you that in handling task the robot not only change the position but also the orientation of the S.E.G. segment layer of the work piece. Searl say Flowerbower could you consider a robot loading a machine tool through a protective cover door in the front of the machine. Searl doubt it. As Searl state as the S.E.G. segment layer work piece approaches the door, it should already be orientated correctly for loading. Searl expect that the orientation of the S.E.G. segment layer work piece should not take place close to the store, conveyor or carousel from which the S.E.G segment layer part is obtained. Searl hopes that the S.E.G. segment layer work piece must now follow a collision free path into the machine tool. Finally, Searl say that the gripper should be orientated in the machine tool so that it can release its grasp and withdraw without disturbing the S.E.G segment layer work piece. Searl points out that the ‘straight’ wrist configuration of Figure OU1.3(a) is preferable to the ‘bent’ wrist configuration in Figure OU1.3(b) which makes removal of the gripper first from the work piece and subsequently from the machine tool difficult.

Flowerbower, what do you think will happen next? You don’t know; well in that case I will be nice and tell you what should happen. Searl say that after loading the S.E.G segment layer work piece, the robot returns to the work piece supply to obtain another part, perhaps for loading to another machine tool. Searl states that the velocities and accelerations through the cycle of operations will determine the overall cycle time. Searl understands from employment experience that some parts of the cycle may be performed quickly, such as the gross position and orientation motions. However, Searl say that the finer motions should be done slowly to reduce the significance of dynamic effects and render the motions more accurate in particular; there should be no overshoot or other erratic movements in the approach of the robot to the work piece which could disturb the work piece. Searl say that the loading should also be as smooth and accurate as possible. Searl state that guides may be provided and the application of small forces by the robot may be needed for the final positioning of the S.E.G segment layer work piece.

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Searl knowledge: 1946-1968: Legal: SEARL NO: 013787346: Legal: SEARLE NO: 013787451

Figure OU1.4: Top image: Arrangement of a robot (R), a conveyor (C) and a machine tool (M) Searl ask what kinds of manipulation are required by the robot R Shown in Figure OU1.4(a) for taking a partially machine cylindrical work piece from a conveyor C and submitting it to the machine M in the arrangement shown? Searl say that the axis of the cylinder is vertical.

As Searl could not possible enter information relating to above, within in this space, he will present them beneath this section. No, Searl has not forgotten (b) and (C). Bear in mind that Searl is not an artists he does the best wherever he can in the effect to present what he wish to say.

Figure OU1.5: (a) Assembling two blocks and (b) fixing with a bolt. Searl hope that is what you can see! Now for that information which is in the above in the block.

(a)The robot gripper must approach the next available work piece without interfering with the other items on the conveyor:

(b)The gripper approaches the work piece and grasps it at its centre:

(c)The robot lifts the work piece vertically and when well clear of the conveyor (to avoid

interference with other work pieces or the conveyor) uses the wrist to turn the work piece through 900. The 900 rotation is required to orientate the axis of the work piece horizontally for submission to the machine tool.

(d)The robot can then take the work piece to the machine tool, using either an overarm motion or a rotation around the waist or base joint. This sweeping motion can be executed at speed, although the robot must slow down again as it approaches the machine tool.

Searl suggest to Flowerbower that he should consider the alternative arrangements shown in Figures OU1.4b) and (c) for the machine tool M, the conveyor C and the robot R. Indicate the manipulations required in each case. Searl explains that the arrangement in Figure OU1.4b) is similar to the previous example except that the robot is constrained to move about its base joint through approximately 900 to present the work piece to the machine. Searl points out that previously a rotation through a full 1800 was required in the second arrangement (Figure OU1.4C), the conveyor lies between the robot and the machine tool. Searl say that the robot does not have to move so far between the conveyor and the machine, thus giving quicker loading, although the robot must remain clear of the conveyor at all times. Searl say that this reduces the range of movements available to the robot. Searl say that further, it should be noted that the robot may be at or near full reach when loading, thus aggravating control problems, especially for heavy work pieces.

Searl like to inform you that he is presenting his problems for designing a mass production system for the S.E.G. which might be required towards end of 2015 or early 2016.

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Searl knowledge: 1946-1968: Legal: SEARL NO: 013787346: Legal: SEARLE NO: 013787451

Searl say you never know when you are on camera – do you? This was clearly taken in LA.

1.2 ASSEMBLY:

Searl informs you that assembly requires manipulations to bring components into some desired spatial relationship with one another. Searl say this is affected by handling with grippers. Searl informs you that assembly tasks consist of two parts: first, fetching the components from a store or feeding device; and second, performing the assembly operations. Searl say that the first is similar to the handling tasks considered above and the second part is considered here.

Searl state that the description of spatial relations is necessary for assembly manipulations. Searl states that coordinate frames are defined, fixed in each component and the desired spatial relations are described by the relations between frames. Searl then suggest that the two coordinate frames are then related to a reference coordinate frame in which the motions of the robot are measured. Searl points out that this is for different component shapes and spatial relations, different coordinate frames are chosen to describe the spatial relations. For example, Searl consider the problem of placing two blocks B1 and B2 in a desired relation before fixing with a bolt passing through the aligned holes (Figure OU1.5a). To describe the spatial relation, locate two coordinate frames (X1, Y1, Z1) and (X2, Y2, Z2) fixed at the corners of the blocks as shown. Searl say that the desired spatial relation is described by specifying that the corresponding axes coincide.

Hello Flowerbower am I going too fast for you to keep, up with me, or should I go faster to help you to poo faster on YouTube. Dear Flowerbower are you suffering from gastritis or helicobacter pylori. They do help you to poo faster on YouTube, if so good luck and I am delighted if that is the case.

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Searl knowledge: 1946-1968: Legal: SEARL NO: 013787346: Legal: SEARLE NO: 013787451

So who now say that I do not talk to people about my technology, for that is about all I do talk about.

Searl only saying supposed that the bolt is to be inserted through the hole aligned in blocks B1 and B2, which are held in place: possibly by using special assembly supports or fixtures. Define cylindrical coordinate frames at the flange of the bolt and at the opening of the hole in block B1 (Figure OU1.5b).The coordinate frames have been chosen according to the shape of the components. Searl reminds you that the assembly operation requires that the Z axis of the two frames is aligned. The angle α is unimportant, since the bolt is axially symmetric apart from its head. Searl say that the completion of the assembly requires that the origins of the cylindrical frames coincide if the head is required in a particular orientation, then the frames are chosen so that α = 0 lines in each frame coincide for the desired orientation of the bolt.

Searl say that apart from the choice of coordinate frames for the description of assembly, these tasks have a number of particular manipulation requirements. Searl say that these include the use of preferred directions of motion and the necessity for high accuracy in assembly operations. Searl say for an example, the insertion of components in a printed circuit board requires the accurate positioning of the component pins perpendicular to the board. The assembly motions themselves are also perpendicular to the board. Searl say that such assembly can be achieved by robots which preserve the direction of the pins perpendicular to the board by using two parallel revolute axes (perpendicular to the board) or two prismatic axes (parallel to the board). A final prismatic joint axis is used to affect the motions along the preferred direction. Searl states that the assembly of electric motors requires the majority of assembly motions to take place along the direction of the axis of symmetry of the motor.

Searl ask you all: being the writer of this document: is he senile as Brad has been informing people. Page 690©

Searl knowledge: 1946-1968: Legal: SEARL NO: 013787346: Legal: SEARLE NO: 013787451

Searl on page 690 stated robots work piece mounting components on circuit boards reference made to their leads. This are the kind of components we are making reference too.

Figure PIDM 1: High Voltage transistors for lighting, top image.

Figure BULDXX 2: second image: range of transistors Which Searl used in his days.

Figure HIP4080AIP: Third image: 80V/2.5A Peak, High Frequency Full Bridge FET Driver: Products used by Searl in the late 1997 when he was just toying around making things for Christmas display. Searl agree that today you can buy readymade fantastic displays; Searl should know he has many types here in San Diego, U.S.A. For Hollywood type celebrations.

Searl say that the inaccuracies in providing robot end effector motion in preferred directions arise from three sources. First there are the inaccuracies in moving in straight lines along the preferred directions. Searl state that these inaccuracies may be overcome by using a prismatic joint. Searl say the second and the third sources of inaccuracy arise because the prismatic joint may not be aligned with the preferred directions. The misalignment can occur because the prismatic joint has the wrong position (lateral error) or because it has the wrong direction (angular error). Thus many robots for assembly have configurations which are designed to minimize these errors. For example the SCARA type configuration (Figure OU 1.6a), minimizes the angular error by using a single vertical prismatic axis positioned by two vertical revolute axes parallel to the prismatic axis. Searl say that this configuration provides rigidity which keeps the prismatic axis in the vertical direction.

Hello Flowerbower I’m wondering how you are coping with this information – guess it is over the top of your head. How do you like being attacked in public – as you have attacked me for many years now to the public domain?

Searl point out that the PRAGMA robot which Searl feel was the one he had to train on (Figure OU 1.6b) but during this writing it come to mind and it is different than above I shall correct it in the writing at that time. This robot has a Cartesian configuration but has two prismatic joint for locating the final sliding motion (which is usually horizontal). The vertical motions are affected by the second prismatic joint. Again the angular errors are minimised. Searl say that the Cartesian configuration is well suited to assembly, giving easy controllable and accurate motions in the directions of the coordinate axes. Searl say that in addition, the Cartesian configuration allows a number of machines to be mounted side by side to perform coordinated sequences of assembly operations. This sounds more like what the S.E.G. will require for its assembly functions. Remember Searl has 66 roller sets and 3 plates to machine out to size, each roller set has 8 segment units of which each segment unit contains 4 different materials to machine out. That is 2112 operations for the roller sets of an S.E.G. plus 12 functions for the plates that equals 2124 robot functions. Page 691©

Searl knowledge: 1946-1968: Legal: SEARL NO: 013787346: Legal: SEARLE NO: 013787451

Here again proof that I have travel around the world lecturing upon the Searl Technology. Not today so much due to the state of my health, but that may change soon – who knows?

Searl say assembly may also require force application, perhaps to complete an assembly requiring part mating and fixing, or to test that an assembly has been completed. Disturbing forces may be applied along specified directions, or torques in specified planes, to test the security of fixing.

Searl state that at the start of this section, the assembly operation was divided into handling operation and assembly proper. Searl says that this division is sometimes exemplified by using a special handling robot to deliver components ready for assembly. Searl say that the handling robot may be placed at the centre of a cell containing several assembly robots performing a sequence of assembly tasks. Searl say that the handling robot services these specialised robots, delivering parts, transferring partially completed assemblies and removing completed S.E.Gs from the cell. Searl understands that the evolution of such division of labour among robots is not accidental, given the different manipulation requirements of the handling and the assembly tasks. He term cell appears in all class of employment. This class of cell is medical:

Figure MHB4.23: To Searl education this is Hairy cell leukaemia: reticulin stain of bone marrow trephine showing reticulin fibres replacing haemopoietic tissue (c400). How is the word cell referring too in an English dictionary. Smallest unit of an organism that is able to function independently: small room for a prisoner, monk, or nun: small compartment; small group operating as a core of a larger organization; device which generates electrical energy from a chemical reactionno robots.

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Searl knowledge: 1946-1968: Legal: SEARL NO: 013787346: Legal: SEARLE NO: 013787451

Here is where no man has been before inside Searl heart, on the way through Searl body to look for problems needing fixing. One was fixed but could not afford to have another one fixed. This Searl watched on a very large colour monitor. I do have a CD on the whole operation but it will not play; do not have the program which it was made on. Man has made great progress in the medical field.

Searl suggest why designs for assembly robots have increasingly moved away from configurations possessing full manipulative capability.

Searl say that there are two main reasons. First, many assembly tasks do not require general manipulation to position and orientate objects but only require motions in a few preferred direction. Second, the possession of general manipulative capability renders the robot insufficiently accurate for many assembly tasks.

Searl suggest a means to manipulate the relative position and orientation of components in assembly tasks which does not lead to the inaccuracies normally associated with six- degree-of freedom robot arms.

Searl has to agree that the 6 degree of freedom robot arms supplied by Open University worked perfect found no errors during my 9 months of training with it. Flowerbower if there was something impossible, the 6 degree-of-freedom arms robot were it; but someone made it possible therefore Flowerbower it is no longer impossible - is it? This is also the case of the S.E.G. But it has taken many centuries to make it possible.

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Searl knowledge: 1946-1968: Legal: SEARL NO: 013787346: Legal: SEARLE NO: 013787451

This shot taken at SMI lab, with me are Jason and Fernando who at this stage do all the main work at the lab.

Searl say that a possible solution lies in the fact that assembly operations require bringing a pair of objects into a desired spatial relation. Thus Searl say if each object is held by a separate robot arm each with three degrees of freedom, then any desired spatial relation between the objects can be realised. Searl say that this avoids inaccuracies and the difficulties of control associated with six degree of freedom robot arms.

Searl make comment on the similarities between a handling robot serving an assembly cell containing SCARA-TYPE robots serving a machining cell.

Searl say that the manipulation tasks of the handling robot are similar in each case. These are to load and unload the individual stations for assembly and machining, respectively. Searl say that machining requires the controlled motion of the S.E.G. segment layers work pieces and the cutting head. Searl understands that these motions are computer controlled and programmable. Searl also appreciate that the assembly tasks require controlled motion of the grippers holding the assembly components. Searl knows that the degree of manipulative flexibility of the assembly robot may be greater than that of the CNC machine tool, although the types of motion, namely accurate motions in preferred directions, are similar. It may be envisaged that assembly robots capable of different assembly operations will be grouped in a single cell, to produce a flexible assembly system, rather than having a single assembly robot performing a wide range of assembly tasks.

From this last subject upon robots, it should, be clear that Searl is planning upon how mass production should be undertaken for safety point of human activity of going on strikes etc. Page 695©

Searl knowledge: 1946-1968: Legal: SEARL NO: 013787346: Legal: SEARLE NO: 013787451

Can you identify this picture and relate to what time period does it represent? It falls in the time slot of 1640 – 1700, now have you got it? If you said the period of circa 1675 let’s see if you are right; let me look at what I can remember of this time slot. First I think of is the Royal Society incorporated 1660, called hostile to religion. Another is Sir Isaac Newton’s “Principia Mathematica”1687. Then Theological skepticism grows. O yes then there was Fahrenheit perfects the thermometer, which is the image on show, if you gave the date 1675 then you are right. Unfortunate for some reason we do not have the correct date, at this time it is assumed to be that date. Sorry I cannot at this time think of any other event that took place, but there was without a doubt.

GRIPPING:

Searl understand that manipulations in handling and assembly require a gripper to constrain the S.E.G segment layers work pieces and components. Searl say that the primary purpose is to render the object immobile with respect to the hand of the robot, so that the motions of the robot are transferred directly to the object.

Searl do understand that grippers are not usually versatile devices and have been developed for particular handling tasks. Thus, a single robot may be used with a wide variety of grippers depending on the task. Searl understand that the manipulative characteristics of the task will not affect the type of gripper used as much as them object characteristics, including shape, weight; fragility and surface texture.

Searl know that many grippers constrain work pieces by applying forces, including friction. Searl understand that these forces counteract disturbing forces encountered during manipulation (including gravity), inertial forces due to motion, and the forces of contact between work pieces, fixtures and tools, and between components during assembly. Searl agree that grippers should not disturb objects in the process of grasping. Searl understand that disturbance in generally avoided not by control over the individual fingers in the gripper, but by locating the gripper in the correct position relative to the object before actuating the grasping mechanism. Searl say that in this way, the fingers come into contact almost simultaneously with the work piece and the disturbing forces are neutralised. More sophisticated grippers possess servo-controlled finger motion and sensors in each finger, so that the gripper may exert a light touch to prevent unwanted disturbing forces, deformation or breakage.

Searl through his training with the Open University fully understand that many grippers constrain using two fingers or jaws, given surface or multiple point contact with the work piece. Other grippers use hooks, suction pads, or special purpose arrangements of clamps. For robot manipulation, it is not only the physical connections between the gripper and the S.E.G segment layers work piece which are important, but also the attitude of the gripper to the work piece when gripping takes place. This attitude will determine the effectiveness of the grip during manipulation, the ability to reposition and reorientation the work piece in a handling task, and the liability of the gripping action to disturb the work piece Figure OU 1.7 shows

Possible attempts to grasp cylindrical work pieces. Searl say that the attempt in Figure OU 1.7(a) will be unsuccessful since the cylinder will be disturbed. Searl say that the attitude in Figure OU 1.7(b) may be suitable if the part is to be presented for processing, or inserted in a storage position. Searl say for presenting cylindrical work pieces to a machine tool, like the S.E.G segment layers, the attitude shown in

Figure OU 1.7(C) is required. Page 696©